\doxysection{arm\+\_\+pid\+\_\+instance\+\_\+f32 Struct Reference}
\hypertarget{structarm__pid__instance__f32}{}\label{structarm__pid__instance__f32}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}


Instance structure for the floating-\/point PID Control.  




{\ttfamily \#include $<$arm\+\_\+math.\+h$>$}

\doxysubsubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_ad7b0bed64915d0a25a3409fa2dc45556}{A0}}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_a7def89571c50f7137a213326a396e560}{A1}}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_a155acf642ba2f521869f19d694cd7fa0}{A2}}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_ac8ef2ec43648e986c99e1df96c68a36f}{state}} \mbox{[}3\mbox{]}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_aa9b9aa9e413c6cec376a9dddc9f01ebe}{Kp}}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_ac0feffde05fe391eeab3bf78e953830a}{Ki}}
\item 
float32\+\_\+t \mbox{\hyperlink{structarm__pid__instance__f32_ad5b68fbf84d16188ae4747ff91f6f088}{Kd}}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
Instance structure for the floating-\/point PID Control. 

\label{doc-variable-members}
\Hypertarget{structarm__pid__instance__f32_doc-variable-members}
\doxysubsection{Member Data Documentation}
\Hypertarget{structarm__pid__instance__f32_ad7b0bed64915d0a25a3409fa2dc45556}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!A0@{A0}}
\index{A0@{A0}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{A0}{A0}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_ad7b0bed64915d0a25a3409fa2dc45556} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+A0}

The derived gain, A0 = Kp + Ki + Kd . \Hypertarget{structarm__pid__instance__f32_a7def89571c50f7137a213326a396e560}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!A1@{A1}}
\index{A1@{A1}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{A1}{A1}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_a7def89571c50f7137a213326a396e560} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+A1}

The derived gain, A1 = -\/Kp -\/ 2Kd. \Hypertarget{structarm__pid__instance__f32_a155acf642ba2f521869f19d694cd7fa0}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!A2@{A2}}
\index{A2@{A2}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{A2}{A2}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_a155acf642ba2f521869f19d694cd7fa0} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+A2}

The derived gain, A2 = Kd . \Hypertarget{structarm__pid__instance__f32_ad5b68fbf84d16188ae4747ff91f6f088}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!Kd@{Kd}}
\index{Kd@{Kd}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{Kd}{Kd}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_ad5b68fbf84d16188ae4747ff91f6f088} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+Kd}

The derivative gain. \Hypertarget{structarm__pid__instance__f32_ac0feffde05fe391eeab3bf78e953830a}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!Ki@{Ki}}
\index{Ki@{Ki}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{Ki}{Ki}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_ac0feffde05fe391eeab3bf78e953830a} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+Ki}

The integral gain. \Hypertarget{structarm__pid__instance__f32_aa9b9aa9e413c6cec376a9dddc9f01ebe}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!Kp@{Kp}}
\index{Kp@{Kp}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{Kp}{Kp}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_aa9b9aa9e413c6cec376a9dddc9f01ebe} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::\+Kp}

The proportional gain. \Hypertarget{structarm__pid__instance__f32_ac8ef2ec43648e986c99e1df96c68a36f}\index{arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}!state@{state}}
\index{state@{state}!arm\_pid\_instance\_f32@{arm\_pid\_instance\_f32}}
\doxysubsubsection{\texorpdfstring{state}{state}}
{\footnotesize\ttfamily \label{structarm__pid__instance__f32_ac8ef2ec43648e986c99e1df96c68a36f} 
float32\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+f32\+::state}

The state array of length 3. 

The documentation for this struct was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
C\+:/\+Users/\+ASUS/\+Desktop/dm-\/ctrl\+H7-\/balance-\/9025test/\+Middlewares/\+ST/\+ARM/\+DSP/\+Inc/arm\+\_\+math.\+h\item 
C\+:/\+Users/\+ASUS/\+Desktop/dm-\/ctrl\+H7-\/balance-\/9025test/\+Middlewares/\+ST/\+ARM/\+DSP/\+Include/dsp/controller\+\_\+functions.\+h\end{DoxyCompactItemize}
